{"id":"https://openalex.org/W1981998734","doi":"https://doi.org/10.1109/mmar.2011.6031315","title":"Continuation method approach to trajectory planning in robotic systems","display_name":"Continuation method approach to trajectory planning in robotic systems","publication_year":2011,"publication_date":"2011-08-01","ids":{"openalex":"https://openalex.org/W1981998734","doi":"https://doi.org/10.1109/mmar.2011.6031315","mag":"1981998734"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2011.6031315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2011.6031315","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 16th International Conference on Methods & Models in Automation & Robotics","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051751849","display_name":"Joanna Karpi\u0144ska","orcid":null},"institutions":[{"id":"https://openalex.org/I11923345","display_name":"Wroc\u0142aw University of Science and Technology","ror":"https://ror.org/008fyn775","country_code":"PL","type":"education","lineage":["https://openalex.org/I11923345"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Joanna Karpinska","raw_affiliation_strings":["Institute of Computer Engineering, Control and Robotics Wroclaw University of Technology, Wroclaw, Poland","Institute of Computer Engineering, Control and Robotics, Wroc\u0142aw University of Technology, ul. Janiszewskiego 11/17, 50-372, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Engineering, Control and Robotics Wroclaw University of Technology, Wroclaw, Poland","institution_ids":["https://openalex.org/I11923345"]},{"raw_affiliation_string":"Institute of Computer Engineering, Control and Robotics, Wroc\u0142aw University of Technology, ul. Janiszewskiego 11/17, 50-372, Poland","institution_ids":["https://openalex.org/I11923345"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036247461","display_name":"Krzysztof Tcho\u0144","orcid":"https://orcid.org/0000-0002-5691-9644"},"institutions":[{"id":"https://openalex.org/I11923345","display_name":"Wroc\u0142aw University of Science and Technology","ror":"https://ror.org/008fyn775","country_code":"PL","type":"education","lineage":["https://openalex.org/I11923345"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Krzysztof Tchon","raw_affiliation_strings":["Control and Robotics Wroclaw University of Technology, Wroclaw, Poland","Institute of Computer Engineering, Control and Robotics, Wroc\u0142aw University of Technology, ul. Janiszewskiego 11/17, 50-372, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Robotics Wroclaw University of Technology, Wroclaw, Poland","institution_ids":["https://openalex.org/I11923345"]},{"raw_affiliation_string":"Institute of Computer Engineering, Control and Robotics, Wroc\u0142aw University of Technology, ul. Janiszewskiego 11/17, 50-372, Poland","institution_ids":["https://openalex.org/I11923345"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I11923345"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.08152225,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"51","last_page":"56"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/continuation","display_name":"Continuation","score":0.7885375618934631},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.717284083366394},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5963500142097473},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5442474484443665},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.49519458413124084},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4891274571418762},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4826424717903137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4572950601577759},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.45257988572120667},{"id":"https://openalex.org/keywords/homotopy","display_name":"Homotopy","score":0.449947714805603},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44780245423316956},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42877358198165894},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4198077619075775},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4104498028755188},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41024142503738403},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.333313524723053},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3321542739868164},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22896364331245422},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22261959314346313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20472732186317444},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17111191153526306},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08718213438987732}],"concepts":[{"id":"https://openalex.org/C88626702","wikidata":"https://www.wikidata.org/wiki/Q1128903","display_name":"Continuation","level":2,"score":0.7885375618934631},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.717284083366394},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5963500142097473},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5442474484443665},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.49519458413124084},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4891274571418762},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4826424717903137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4572950601577759},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.45257988572120667},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.449947714805603},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44780245423316956},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42877358198165894},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4198077619075775},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4104498028755188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41024142503738403},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.333313524723053},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3321542739868164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22896364331245422},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22261959314346313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20472732186317444},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17111191153526306},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08718213438987732},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2011.6031315","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2011.6031315","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 16th International Conference on Methods & Models in Automation & Robotics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7099999785423279,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W63873808","https://openalex.org/W104757774","https://openalex.org/W1424654272","https://openalex.org/W1515926936","https://openalex.org/W1995534712","https://openalex.org/W2003078294","https://openalex.org/W2009072010","https://openalex.org/W2034190982","https://openalex.org/W2115632170","https://openalex.org/W2186590998","https://openalex.org/W4213416190","https://openalex.org/W4292408540","https://openalex.org/W6602627776"],"related_works":["https://openalex.org/W2352275403","https://openalex.org/W2159885618","https://openalex.org/W1994937216","https://openalex.org/W2199313715","https://openalex.org/W2012352190","https://openalex.org/W4210910892","https://openalex.org/W2206497186","https://openalex.org/W4225691068","https://openalex.org/W2277985843","https://openalex.org/W2766493616"],"abstract_inverted_index":{"This":[0,62],"paper":[1,85],"uses":[2],"the":[3,11,22,36,46,68,74,84,94,97],"continuation":[4],"method":[5],"as":[6],"a":[7,29,39,56,65,89],"guideline":[8],"to":[9,67,73,78],"address":[10],"trajectory":[12,69,90],"planning":[13,70,91],"problem":[14,92],"in":[15,83],"robotic":[16,23],"systems.":[17],"It":[18],"is":[19,43,86],"assumed":[20],"that":[21],"system":[24,32,48],"can":[25],"be":[26],"represented":[27],"by":[28],"control":[30,47,60],"affine":[31],"with":[33,88],"output.":[34],"From":[35],"homotopy":[37],"map":[38],"partial":[40],"differential":[41],"equation":[42],"derived":[44],"involving":[45],"and":[49],"its":[50],"variational":[51],"system,":[52],"whose":[53],"solution":[54,66],"yields":[55],"1-parameter":[57],"family":[58,63],"of":[59,96],"functions.":[61],"contains":[64],"problem,":[71],"corresponding":[72],"parameter":[75],"growing":[76],"up":[77],"infinity.":[79],"The":[80],"approach":[81],"developed":[82],"illustrated":[87],"for":[93],"kinematics":[95],"rolling":[98],"ball.":[99]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}